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挠性航天器在姿态机动过程会受环境干扰力矩的作用,研究有扰情况下挠性航天器的姿态跟踪控制问题。首先,设计了干扰观测器在线估计频率已知的外部干扰信号,然后,基于干扰观测器设计了非线性反馈姿态跟踪控制器以跟踪目标姿态,并且该控制器只需要误差四元数和角速度的反馈信息。其次,采用Lyapunov方程和Barbalat引理证明了控制系统的全局渐近稳定性;为简化分析,在证明过程中采用集中参数法将高维分块对称矩阵转化为低阶矩阵。最后,针对外部干扰为常值干扰和周期干扰的情况,分别进行了仿真分析。仿真结果表明,干扰观测器可以渐近跟踪外部干扰,基于观测器的非线性反馈控制器满足姿态跟踪控制要求,是有效的。
The flexible spacecraft during the attitude maneuver will be affected by environmental disturbance moment, and the attitude tracking control problem of the flexible spacecraft under disturbances is studied. Firstly, the disturbance observer is designed to estimate the external disturbance signal with the known frequency online. Then, a nonlinear feedback attitude tracking controller is designed based on the disturbance observer to track the target attitude. The controller only needs the error quaternion and angular velocity Feedback. Secondly, the global asymptotic stability of the control system is proved by the Lyapunov equation and the Barbalat lemma. In order to simplify the analysis, the centralized parameter method is used to transform the high-dimensional block-wise symmetric matrix into the low-order matrix. Finally, in view of the situation that the external disturbance is the constant value and the periodic disturbance, the simulation analysis is carried out respectively. The simulation results show that the disturbance observer can track the external disturbance asymptotically, and the observer-based nonlinear feedback controller can satisfy the requirement of attitude tracking control, which is effective.